CN111252219A - Underwater buffer robot and working method thereof - Google Patents
Underwater buffer robot and working method thereof Download PDFInfo
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- CN111252219A CN111252219A CN202010176176.8A CN202010176176A CN111252219A CN 111252219 A CN111252219 A CN 111252219A CN 202010176176 A CN202010176176 A CN 202010176176A CN 111252219 A CN111252219 A CN 111252219A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/16—Control of attitude or depth by direct use of propellers or jets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The invention discloses an underwater buffer robot and a working method thereof, wherein the underwater buffer robot comprises: the device comprises a base assembly, a driving lifting assembly and a steering buffer assembly, wherein the base assembly comprises a cabin body and side plates arranged on two sides of the cabin body; the driving lifting assembly comprises a first driving device and a second driving device which penetrate through the side plates and are arranged on two sides of the cabin body, and a water storage bin arranged in the cabin body; the steering buffer assembly comprises an empennage arranged at the tail of the cabin body, a steering connecting rod assembly fixedly connected with the empennage, and a reverse buffer device rotationally connected with the steering connecting rod assembly. The invention designs a reverse buffer device, when the underwater buffer robot encounters fish school and reef and needs to turn, the reverse buffer device has a reverse buffer effect to ensure that the underwater buffer robot does not touch the reef in the turning process to disperse the fish school, the reverse buffer device and the tail wing are driven by the same set of motor, and the reverse buffer effect is stronger when the turning amplitude is larger.
Description
This patent is the divisional application, and the information of former application is as follows, the name: an underwater buffer robot and a working method thereof apply for the number: 201910331856X, filing date: 2019/04/24.
Technical Field
The invention relates to the field of bionic robots, in particular to an underwater buffer robot and a working method thereof.
Background
With the development of underwater robotics and various scientific techniques related to robots, research on underwater robots has achieved many remarkable results, and currently, many countries in the world are working on research and development of underwater robots, and the application fields of underwater robots are very wide.
The application field of the underwater robot relates to industry, fishery, exploration, military and the like, and the underwater robot becomes an important tool for people to know, develop and utilize the ocean.
However, when the existing underwater robot encounters an emergency, such as a reef and a fish school, and turns, the robot cannot decelerate itself, only stops forward driving force, but does not have backward buffering and decelerating functions, and is easy to touch the reef to disperse the fish school, thereby affecting normal exploration and shooting of the underwater robot.
Disclosure of Invention
The purpose of the invention is as follows: the underwater buffer robot and the working method thereof are provided to solve the problems in the prior art.
The technical scheme is as follows: an underwater buffer robot and a working method thereof comprise the following steps:
the base assembly comprises a cabin body and side plates arranged on two sides of the cabin body;
the driving lifting assembly comprises a first driving device and a second driving device which penetrate through the side plates and are arranged on two sides of the cabin body, and a water storage bin arranged in the cabin body;
the steering buffer assembly comprises an empennage arranged at the tail of the cabin body, a steering connecting rod assembly fixedly connected with the empennage, and a reverse buffer device rotationally connected with the steering connecting rod assembly.
In a further embodiment, the first driving device and the second driving device are two sets of mirror image units symmetrically arranged, each set of mirror image unit comprises a rotating motor, a rotating fourth connecting rod rotatably connected with the rotating motor, a rotating third connecting rod movably connected with the rotating fourth connecting rod, a rotating second connecting rod movably connected with the rotating third connecting rod, a rotating first connecting rod fixedly connected with the rotating second connecting rod, a fixing plate fixedly connected with the rotating first connecting rod, a driving motor fixedly connected with the fixing plate, and a driving propeller penetrating through the fixing plate and electrically connected with the driving motor; the rotating first connecting rod is inserted into the connecting disc; the driving propeller rotates clockwise, and two sets of mirror image units are designed to be consistent in weight of the left and right sets of driving devices in the driving process, so that the phenomenon of heeling of the underwater buffer robot caused by different weights is prevented.
In a further embodiment, a connecting rod, a camera fixedly connected with the connecting rod and a control center electrically connected with the camera are arranged between the first driving device and the second driving device, the camera is designed to shoot underwater environment, the camera is used for performing investigation to the left and the right, and serves as vision, the communication buoys are sequentially in communication connection with the underwater robot, relevant data are transmitted, and the relevant data are reported to the control center.
In a further embodiment, the end of the water storage bin is communicated with a water storage pipe; the end part of the water storage bin is communicated with a water storage pipe; the water storage pipe is bent along the water storage bin body; a water storage cylinder is arranged in the water storage bin; the end part of the water storage cylinder is inserted with a cylinder telescopic shaft; one end of the cylinder telescopic shaft is fixedly connected with the sealing disc; the sealed dish is laminated with the water storage storehouse inner wall, and the design water storage storehouse is mainly in order to dive the in-process, increases buffer robot's weight under water, lets buffer robot dive under water more rapidly.
In a further embodiment, the steering connecting rod assembly comprises a steering first connecting rod fixedly connected with the tail wing, a steering second connecting rod movably connected with the steering first connecting rod, a steering third connecting rod arranged at the end part of the steering second connecting rod, a steering fourth connecting rod movably connected with the steering third connecting rod, a reverse buffer device fixedly connected with the steering fourth connecting rod, and a steering connecting rod shaft inserted three-fourths of the third connecting rod; the steering connecting rod shaft is inserted into the bottom of the cabin body, and a steering connecting rod disc is arranged between the steering connecting rod shaft and the bottom of the cabin body; the three-fourth part of the steering first connecting rod is provided with a steering fixing rod, the steering fixing rod is fixedly connected with the bottom of the cabin body, the steering fixing rod is movably connected with the steering first connecting rod, a steering connecting rod assembly is designed, and the steering connecting rod assembly is mainly used for controlling the tail wing to swing so as to complete steering of the underwater buffer robot.
In a further embodiment, reverse buffer include with turn to fourth connecting rod fixed connection's buffer disc, peg graft the buffer shaft of buffer disc, cup joint the first gear of buffering of buffer shaft, with the buffering second gear of buffering first gear meshing pegs graft the buffering second gear of buffering second gear, with buffering second gear fixed connection's buffering screw, reverse buffer of design is in order to turn to when the underwater robot, because the short-range phenomenon of turning to of inertial effect appears easily and the touching of reef, the phenomenon of scattering the shoal of fish.
In a further embodiment, the steering of the buffer propeller is a counter-clockwise rotation; the cabin body is a transparent cabin body; the buffering shaft penetrates through the buffering first gear and the external input motor, the steering of the buffering propeller is designed to be anticlockwise rotated, the steering of the buffering propeller is opposite to that of the driving propeller, and in the steering process, the buffering propeller and the driving propeller can form two reverse acting forces so as to play a role in slowing down inertia.
A working method of an underwater buffer robot comprises the following steps:
s1: when the underwater buffering robot needs diving, the water storage cylinder drives the telescopic rod of the cylinder to contract, so that the sealing disc is driven to move along the inner wall of the water storage bin, and then the water body is extracted, so that the water body is extracted into the water storage bin along the water storage pipe, the weight of the underwater buffering robot is increased, and the diving is completed;
s2: when the underwater buffering robot finishes diving, the driving motor drives the driving propeller to rotate so as to drive the underwater buffering robot to advance, and when the underwater buffering robot needs to adjust the diving depth, the rotating motor drives the rotating fourth connecting rod to rotate so as to drive the rotating third connecting rod to reciprocate back and forth, so as to drive the rotating second connecting rod to swing, so as to drive the rotating first connecting rod to reciprocate along a preset amplitude, so as to drive the fixing plate to reciprocate along the preset amplitude, so as to drive the driving propeller to reciprocate along the preset amplitude, so as to adjust the angle of the driving propeller, and further adjust the diving depth of the underwater buffering robot;
s3: when the underwater robot meets fish schools and reefs and needs to turn, the input motor drives the buffer disc to rotate, further drives the turning fourth connecting rod to reciprocate back and forth, further drives the turning third connecting rod to swing, further drives the turning second connecting rod to reciprocate, further drives the turning first connecting rod to swing, further drives the tail wing to swing, and further completes the turning of the underwater robot when meeting the fish schools and the reefs;
s4: when the underwater robot turns, the input motor drives the buffering first gear to rotate so as to drive the buffering second gear to rotate and further drive the buffering second gear to rotate so as to drive the buffering propeller to rotate, the rotation direction of the buffering propeller is opposite to that of the driving propeller, and the buffering propeller provides a reverse acting force in water so as to reduce the underwater running speed of the underwater robot, so that the turning buffering effect is achieved, the underwater robot cannot touch with reefs when turning, fish schools are dispersed, and shooting materials are reduced;
s5: when the underwater robot moves to a preset position, a shot picture is transmitted to a control center screen by a camera, and then the control center controls the visual angle of the camera to shoot, after the underwater robot finishes shooting, a water storage cylinder drives a cylinder telescopic rod to extend, and then a sealing disc is driven to move along the inner wall of a water storage bin, so that a water body is discharged, the water body is discharged to the outside of the water storage bin along a water storage pipe, the weight of the underwater buffer robot is reduced, and the underwater robot is lifted;
s6: when underwater robot need rise to the surface of water fast, drive rotatory fourth connecting rod by rotating the motor and rotate, and then drive rotatory third connecting rod and carry out reciprocating motion back and forth, and then drive rotatory second connecting rod and swing, and then drive rotatory first connecting rod and carry out reciprocating motion along the predetermined range, and then drive the fixed plate and carry out reciprocating motion along the predetermined range, and then drive the drive screw and carry out reciprocating motion along the predetermined range, and then accomplish the angle of regulation drive screw, make the screw cut the slope upwards, and then adjust the speed that underwater buffer robot rises to the surface of water.
In a further embodiment, a method of operating an underwater buffer robot further comprises the steps of:
s7, automatic shooting flow:
s71, arranging a plurality of communication buoys which are uniformly distributed or distributed according to a preset route in a preset water area, wherein each communication buoy is provided with a first antenna which extends to the lower part of the water surface and is in communication connection with the underwater robot, a second antenna which extends towards the sky side and is used for communicating with a control center, a propeller used for driving the buoy to move and a power supply;
s72, arranging the underwater robot in a preset water area, starting a communication signal test, and recording the communication time and the communication signal strength of each communication buoy and the underwater robot;
s73, when the underwater robot moves according to the preset route and shoots, each communication buoy is in communication connection with the underwater robot in sequence, relevant data are transmitted and reported to the control center, and the distance between the communication buoy and the underwater robot is calculated according to the communication signal intensity and the acquired empirical data;
s74, the recovery vessel waits for the underwater robot at the end point and recovers it.
In a further embodiment, the step S7 further includes an abnormal condition processing step:
s75, when the communication buoy deviates from the predetermined route due to waves, water currents or other reasons, starting the propeller to move the communication buoy to the predetermined position;
s76, when the communication environment of the preset water area becomes poor and the strength of the communication signal between the communication buoy and the underwater robot becomes weak, starting the pusher to enable the communication buoy to move along with the movement of the underwater robot, and ensuring that the signal strength exceeds a threshold value;
s77, when the underwater robot meets an obstacle in the preset route, adjusting the route according to the signal of the control center, and simultaneously, starting the communication buoy closest to the control center to track the movement of the underwater robot so as to ensure smooth communication;
and S78, when the underwater robot has a fault, starting the propeller of the nearby communication buoy to enable at least 3 communication buoys to communicate with the underwater robot, and determining the position of the underwater robot.
Has the advantages that: the invention discloses an underwater buffer robot and a working method thereof, a reverse buffer device is designed, when the underwater buffer robot encounters fish school and reef and needs to turn, the underwater buffer robot has a reverse buffer effect, used for ensuring that the underwater buffer robot does not touch reefs and dispersing fish schools in the steering process, and the reverse buffer device and the tail wing are driven by the same set of motor, when the steering amplitude is larger, the reverse buffer effect is stronger, and a plurality of communication buoys which are uniformly distributed or distributed according to a preset route are arranged in a preset water area, the communication buoy is provided with a first antenna extending to the water surface and connected with the underwater robot in a communication way, a second antenna extending to the sky side and used for communicating with the control center, the control center does not need to follow the underwater robot to shoot, underwater vibration is reduced, fish schools are not disturbed, and the fish schools cannot be dispersed.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a schematic view of the drive assembly mechanism of the present invention.
Fig. 3 is a schematic view of the rotary linkage mechanism of the present invention.
Fig. 4 is a schematic view of the tail steering buffer mechanism of the present invention.
Fig. 5 is a schematic view of a reservoir of the present invention.
Fig. 6 is a schematic diagram of the reservoir cylinder push of the present invention.
Fig. 7 is a schematic view of a reverse buffer propeller of the present invention.
Fig. 8 is a schematic view of an automatic photographing flow of the present invention.
The reference signs are: the device comprises a first driving device 1, a driving motor 101, a driving propeller 102, a fixing plate 103, a rotating first connecting rod 104, a rotating third connecting rod 105, a rotating motor 106, a paddle 107, a paddle head 108, a rotating fourth connecting rod 109, a connecting disc 110, a rotating second connecting rod 111, a side plate 2, a cabin body 3, a tail wing 4, a steering first connecting rod 401, a steering fixing rod 402, a steering second connecting rod 403, a steering third connecting rod 404, a steering connecting rod disc 405, a steering connecting rod shaft 406, a steering fourth connecting rod 407, a reverse buffer device 408, a buffer disc 409, a buffer first gear 410, a buffer second gear 411, a buffer second gear 412, a buffer shaft 413, a buffer propeller 414, a steering connecting rod assembly 415, a second driving device 5, a camera 6, a water storage cabin 7, a water storage pipe 701, a water storage cylinder 702, a cylinder telescopic shaft 703 and a sealing disc 704.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
Through the careful study of the applicant, the problem (the underwater robot is easy to touch with the reef to disperse fish schools and affect the normal exploration and shooting of the underwater robot) occurs because the current underwater robot cannot decelerate the robot when encountering emergencies such as the reef and the fish schools and cannot only stop forward driving force without backward buffering and decelerating actions and is easy to touch with the reef to disperse the fish schools and affect the normal exploration and shooting of the underwater robot, and in the shooting process, a control center is required to follow the shooting robot, and in the shooting process, the control center needs to move and is connected with the underwater robot by cables to achieve the signal transmission action, and in the moving process of the control center, the fish schools are often disturbed to disperse the fish schools and reduce the shooting scenes, the invention designs a reverse buffer device, when an underwater buffer robot encounters a fish school and a reef and needs to turn, the reverse buffer device has a reverse buffer effect and is used for ensuring that the underwater buffer robot does not touch the reef in the turning process and dispersing the fish school, the reverse buffer device and an empennage are driven by the same set of motor, when the turning amplitude is larger, the reverse buffer effect is stronger, the escape of the fish school is reduced, a plurality of communication buoys which are uniformly distributed or distributed according to a preset route are arranged in a preset water area, each communication buoy is provided with a first antenna which extends to the water surface and is in communication connection with the underwater robot, and a second antenna which extends to one side of the sky and is used for communicating with a control center, so that the control center does not need to shoot along with the underwater robot, the underwater vibration is reduced, the fish school is not disturbed, and the fish school is not dispersed.
An underwater buffer robot comprising: the device comprises a first driving device 1, a driving motor 101, a driving propeller 102, a fixing plate 103, a rotating first connecting rod 104, a rotating third connecting rod 105, a rotating motor 106, a paddle 107, a paddle head 108, a rotating fourth connecting rod 109, a connecting disc 110, a rotating second connecting rod 111, a side plate 2, a cabin body 3, a tail wing 4, a steering first connecting rod 401, a steering fixing rod 402, a steering second connecting rod 403, a steering third connecting rod 404, a steering connecting rod disc 405, a steering connecting rod shaft 406, a steering fourth connecting rod 407, a reverse buffer device 408, a buffer disc 409, a buffer first gear 410, a buffer second gear 411, a buffer second gear 412, a buffer shaft 413, a buffer propeller 414, a steering connecting rod assembly 415, a second driving device 5, a camera 6, a water storage cabin 7, a water storage pipe 701, a water storage cylinder 702, a cylinder telescopic shaft 703 and a sealing disc 704.
Wherein, the both sides of the cabin body 3 are equipped with first drive arrangement 1, second drive arrangement 5, the end of the cabin body 3 is equipped with the fin 4, fin 4 and steering linkage assembly 415 fixed connection, the inside water storage bin 7 that is equipped with of the cabin body 3, the both sides fixed connection curb plate 2 of the cabin body 3.
In a further embodiment, the first driving device 1 and the second driving device 5 are two sets of mirror image units symmetrically arranged, each set of mirror image unit includes a rotating motor 106, a rotating fourth connecting rod 109 rotatably connected to the rotating motor 106, a rotating third connecting rod 105 movably connected to the rotating fourth connecting rod 109, a rotating second connecting rod 111 movably connected to the rotating third connecting rod 105, a rotating first connecting rod 104 fixedly connected to the rotating second connecting rod 111, a fixing plate 103 fixedly connected to the rotating first connecting rod 104, a driving motor 101 fixedly connected to the fixing plate 103, and a driving propeller 102 penetrating through the fixing plate 103 and electrically connected to the driving motor 101; the rotating first link 104 is inserted into the connecting disc 110; the driving propeller 102 rotates clockwise, two sets of mirror image units are designed to prevent the underwater buffer robot from tilting due to different weights in order to keep the weights of the left and right sets of driving devices consistent in the driving process, at this time, the driving motor 101 drives the driving propeller 102 to rotate, and further drives the underwater buffer robot to advance, when the underwater buffer robot needs to adjust the diving depth, the rotating motor 106 drives the rotating fourth connecting rod 109 to rotate, and further drives the rotating third connecting rod 105 to reciprocate back and forth, and further drives the rotating second connecting rod 111 to swing, and further drives the rotating first connecting rod 104 to reciprocate along a predetermined amplitude, and further drives the fixing plate 103 to reciprocate along a predetermined amplitude, and further drives the driving propeller 102 to reciprocate along a predetermined amplitude, and further completes the adjustment of the angle of the driving propeller 102, and further adjusting the diving depth of the underwater buffer robot.
The underwater robot surveying system is characterized in that a connecting rod is arranged between the first driving device 1 and the second driving device 5, the camera 6 fixedly connected with the connecting rod is electrically connected with the camera 6, the camera 6 is designed to shoot an underwater environment, the camera 6 performs surveying, serves as a vision, is in communication connection with the underwater robot in sequence, transmits related data and reports the data to the control center, and the control center is electrically connected with the camera 6.
The end part of the water storage bin 7 is communicated with a water storage pipe 701; the end part of the water storage bin 7 is communicated with a water storage pipe 701; the water storage pipe 701 is bent along the body of the water storage bin 7; a water storage cylinder 702 is arranged in the water storage bin 7; the end part of the water storage cylinder 702 is inserted with a cylinder telescopic shaft 703; one end of the cylinder telescopic shaft 703 is fixedly connected with a sealing disc 704; sealed dish 704 and 7 inner walls in water storage storehouse laminating, design water storage storehouse 7 mainly for in-process dive, increase the weight of buffering robot under water, let buffer robot dive more rapidly under water, drive the cylinder telescopic link by retaining cylinder 702 this moment and contract, and then drive sealed dish 704 and remove along 7 inner walls in water storage storehouse, and then the extraction water for the water takes out to 7 insides in water storage storehouse along water storage pipe 701, and then increase buffering robot weight under water, and then accomplish diving.
The steering link assembly 415 comprises a steering first link 401 fixedly connected with the tail fin 4, a steering second link 403 movably connected with the steering first link 401, a steering third link 404 arranged at the end of the steering second link 403, a steering fourth link 407 movably connected with the steering third link 404, a reverse buffer device 408 fixedly connected with the steering fourth link 407, and a steering link shaft 406 inserted at three quarters of the third link; the steering connecting rod shaft 406 is inserted into the bottom of the cabin 3, and a steering connecting rod disc 405 is arranged between the steering connecting rod shaft 406 and the bottom of the cabin 3; the three quarters that turn to first connecting rod 401 is equipped with and turns to dead lever 402, turn to dead lever 402 and 3 bottom fixed connection in the cabin body, turn to dead lever 402 and turn to first connecting rod 401 swing joint, the design turns to link assembly 415, mainly swings for control fin 4, and then accomplish turning to buffer robot under water, at this moment, drive buffer disc 409 by input motor and rotate, and then drive and turn to fourth connecting rod 407 and carry out reciprocating motion back and forth, and then drive and turn to third connecting rod 404 and swing, and then drive and turn to second connecting rod 403 and carry out reciprocating motion, and then drive and turn to first connecting rod 401 and swing, and then drive fin 4 and swing, and then accomplish the turning to that underwater robot meets the shoal of fish, reef.
The reverse buffer device 408 comprises a buffer disc 409 fixedly connected with the steering fourth connecting rod 407, a buffer shaft 413 inserted with the buffer disc 409, a buffer first gear 410 sleeved with the buffer shaft 413, a buffer second gear 411 meshed with the buffer first gear 410, a buffer second gear 412 inserted with the buffer second gear 411, and a buffer propeller 414 fixedly connected with the buffer second gear 412, wherein the reverse buffer device 408 is designed so that short-distance steering is easy to touch with reefs and disperse fish swarms under the action of inertia when the underwater robot steers, an input motor drives the buffer first gear 410 to rotate so as to drive the buffer second gear 411 to rotate, and then drives the buffer second gear 412 to rotate so as to drive the buffer propeller 414 to rotate, and the rotation direction of the buffer propeller 414 is opposite to that of the driving propeller 102, at this moment, the buffer propeller 414 provides a reverse acting force in water, so as to decelerate the underwater operation speed of the underwater robot, thereby achieving the buffer effect of steering, so that the underwater robot does not touch with reefs and disperse fish schools when steering, thereby reducing the shooting material, and the driving propeller 102 comprises a propeller head 108 and blades 107 arranged around the propeller head 108.
The buffer propeller 414 rotates anticlockwise in steering; the cabin 3 is a transparent cabin 3; the buffer shaft 413 penetrates through the buffer first gear 410 and is externally connected with an input motor, the buffer propeller 414 is designed to rotate anticlockwise and is opposite to the driving propeller 102 in rotation direction, and in the process of rotation direction, the buffer propeller 414 and the driving propeller 102 form two opposite acting forces, so that the effect of reducing inertia is achieved.
Description of the working principle: when the underwater buffering robot needs diving, the water storage cylinder 702 drives the cylinder telescopic rod to contract, and further drives the sealing disc 704 to move along the inner wall of the water storage bin 7, and further extracts the water body, so that the water body is pumped into the water storage bin 7 along the water storage pipe 701, and further the weight of the underwater buffering robot is increased, and further diving is completed, when the underwater buffering robot completes diving, the driving motor 101 drives the driving propeller 102 to rotate, and further drives the underwater buffering robot to advance, and when the underwater buffering robot needs to adjust the diving depth, the rotating motor 106 drives the rotating fourth connecting rod 109 to rotate, and further drives the rotating third connecting rod 105 to reciprocate back and forth, and further drives the rotating second connecting rod 111 to swing, and further drives the rotating first connecting rod 104 to reciprocate along a predetermined amplitude, and further drives the fixing plate 103 to reciprocate along a predetermined amplitude, and further drives the driving propeller 102 to rotate back and forth along a predetermined range, and further completes the adjustment of the angle of the driving propeller 102, and further adjusts the diving depth of the underwater buffer robot, when the underwater robot meets the fish school and reef to be steered, the input motor drives the buffer disc 409 to rotate, and further drives the steering fourth connecting rod 407 to reciprocate back and forth, and further drives the steering third connecting rod 404 to swing, and further drives the steering second connecting rod 403 to reciprocate, and further drives the steering first connecting rod 401 to swing, and further drives the tail wing 4 to swing, and further completes the steering of the underwater robot meeting the fish school and reef, when the underwater robot turns, the input motor drives the buffer first gear 410 to rotate, and further drives the buffer second gear 411 to rotate, and further drives the buffer second gear shaft 412 to rotate, and further drives the buffer propeller 414 to rotate, the rotation direction of the buffer screw propeller 414 is opposite to that of the driving screw propeller 102, at this time, the buffer screw propeller 414 provides a reverse acting force in water, so as to decelerate the underwater operation speed of the underwater robot, thereby achieving the buffer effect of steering, so that the underwater robot can not touch reefs when steering, dispersing fish groups, thereby reducing the shooting materials, when the underwater robot moves to a preset position, the camera 6 transmits the shot picture to the control center screen, further the control center controls the visual angle of the camera 6 to shoot, after the underwater robot finishes shooting, the water storage cylinder 702 drives the cylinder telescopic rod to extend, further drives the sealing disc 704 to move along the inner wall of the water storage bin 7, further discharges the water body, so that the water body is discharged to the outside of the water storage bin 7 along the water storage pipe 701, further reducing the weight of the underwater buffer robot, further completing the lifting of the underwater robot, when the underwater robot needs to rise to the water surface rapidly, the rotating motor 106 drives the rotating fourth connecting rod 109 to rotate, the rotating third connecting rod 105 is driven to reciprocate back and forth, the rotating second connecting rod 111 is driven to swing, the rotating first connecting rod 104 is driven to reciprocate along a preset amplitude, the fixing plate 103 is driven to reciprocate along the preset amplitude, the driving propeller 102 is driven to reciprocate along the preset amplitude, the adjustment of the angle of the driving propeller 102 is completed, the propeller is made to incline, and the speed of the underwater buffering robot rising to the water surface is adjusted.
Automatic shooting flow: a plurality of communication buoys which are uniformly distributed or distributed according to a preset route are arranged in a preset water area, each communication buoy is provided with a first antenna which extends to the lower part of the water surface and is in communication connection with the underwater robot, a second antenna which extends towards the sky side and is used for communicating with a control center, a propeller for driving the buoy to move and a power supply, the underwater robot is arranged in a preset water area, a communication signal test is started, the communication time and the communication signal strength of each communication buoy and the underwater robot are recorded, when the underwater robot moves according to a preset route and shoots, each communication buoy is in communication connection with the underwater robot in sequence, transmits related data and reports the data to the control center, and calculating the distance between the communication buoy and the underwater robot according to the communication signal intensity and the acquired empirical data, and waiting for the underwater robot at the end point by the recovery ship and recovering the underwater robot.
An abnormal condition processing step: when the communication buoy deviates from a preset route due to waves, water flow or other reasons, a propeller is started to move to a preset position, when the communication environment of a preset water area becomes poor and the strength of a communication signal between the communication buoy and the underwater robot is weakened, a pusher is started to enable the communication buoy to move along with the movement of the underwater robot, the strength of the signal is ensured to exceed a threshold value, when the underwater robot meets an obstacle in the preset route, the route is adjusted according to a signal of a control center, meanwhile, the communication buoy closest to the communication buoy is started to track the movement of the underwater robot, smooth communication is ensured, when the underwater robot breaks down, the propeller of a nearby communication buoy is started to enable at least 3 communication buoys to communicate with the underwater robot, the position of the underwater robot is determined, and the propeller is a propeller.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.
Claims (5)
1. An underwater buffer robot, comprising:
the base assembly comprises a cabin body and side plates arranged on two sides of the cabin body;
the driving lifting assembly comprises a first driving device and a second driving device which penetrate through the side plates and are arranged on two sides of the cabin body, and a water storage bin arranged in the cabin body;
the steering buffer assembly comprises an empennage arranged at the tail part of the cabin body, a steering connecting rod assembly fixedly connected with the empennage and a reverse buffer device rotationally connected with the steering connecting rod assembly;
the steering connecting rod assembly comprises a steering first connecting rod fixedly connected with the tail wing, a steering second connecting rod movably connected with the steering first connecting rod, a steering third connecting rod arranged at the end part of the steering second connecting rod, a steering fourth connecting rod movably connected with the steering third connecting rod, a reverse buffer device fixedly connected with the steering fourth connecting rod and a steering connecting rod shaft inserted at three quarters of the third connecting rod; the steering connecting rod shaft is inserted into the bottom of the cabin body, and a steering connecting rod disc is arranged between the steering connecting rod shaft and the bottom of the cabin body; a steering fixing rod is arranged at the three-fourth position of the steering first connecting rod and is fixedly connected with the bottom of the cabin body, and the steering fixing rod is movably connected with the steering first connecting rod;
the reverse buffer device comprises a buffer disc fixedly connected with the steering fourth connecting rod, a buffer shaft inserted with the buffer disc, a buffer first gear sleeved with the buffer shaft, a buffer second gear meshed with the buffer first gear, a buffer second gear inserted with the buffer second gear, and a buffer propeller fixedly connected with the buffer second gear; the reverse buffer device is designed to easily touch with reefs and disperse fish schools when the underwater robot turns due to inertia short-distance turning;
the buffer propeller rotates anticlockwise in a turning mode; the cabin body is a transparent cabin body; the buffer shaft penetrates through the buffer first gear and is externally connected with an input motor; the steering of the buffering propeller is designed to be anticlockwise rotated, the steering is opposite to that of the driving propeller, and in the steering process, the buffering propeller and the driving propeller form two opposite acting forces to play a role in slowing down inertia;
when the input motor drives the buffer disc to rotate, the buffer disc drives the steering fourth connecting rod to reciprocate back and forth, so that the steering third connecting rod is driven to swing, the steering second connecting rod is driven to reciprocate, the steering first connecting rod is driven to swing, and the tail wing is driven to swing;
when the input motor drives the buffering first gear to rotate, the buffering first gear drives the buffering second gear to rotate, so that the buffering second gear shaft is driven to rotate, the buffering propeller is driven to rotate, and the rotation direction of the buffering propeller is opposite to that of the driving propeller;
the first driving device and the second driving device are two groups of mirror image units which are symmetrically arranged, each group of mirror image unit comprises a rotating motor, a rotating fourth connecting rod which is rotatably connected with the rotating motor, a rotating third connecting rod which is movably connected with the rotating fourth connecting rod, a rotating second connecting rod which is movably connected with the rotating third connecting rod, a rotating first connecting rod which is fixedly connected with the rotating second connecting rod, a fixed plate which is fixedly connected with the rotating first connecting rod, a driving motor which is fixedly connected with the fixed plate, and a driving propeller which penetrates through the fixed plate and is electrically connected with the driving motor; the rotating first connecting rod is inserted into the connecting disc; the driving propeller rotates clockwise; when the rotating motor drives the rotating fourth connecting rod to rotate, the rotating third connecting rod reciprocates back and forth along with the rotating fourth connecting rod, the rotating second connecting rod swings, the rotating first connecting rod reciprocates along a preset amplitude, and two groups of mirror image units are designed to ensure that the weights of a left driving device and a right driving device are consistent in the driving process, so that the phenomenon that the underwater buffer robot tilts due to different weights is prevented;
the underwater robot communication system is characterized in that a connecting rod is arranged between the first driving device and the second driving device, a camera fixedly connected with the connecting rod is electrically connected with the control center, the camera is designed to shoot an underwater environment, the camera is used for surveying and serving as a visual angle, each communication buoy is in communication connection with an underwater robot in sequence, and relevant data are transmitted and reported to the control center.
2. An underwater buffer robot as claimed in claim 1, wherein: the end part of the water storage bin is communicated with a water storage pipe; the water storage pipe is bent along the water storage bin body; a water storage cylinder is arranged in the water storage bin; the end part of the water storage cylinder is inserted with a cylinder telescopic shaft; one end of the cylinder telescopic shaft is fixedly connected with the sealing disc; the sealing disc is attached to the inner wall of the water storage bin.
3. The working method of the underwater buffer robot based on claim 2 is characterized by comprising the following steps:
s1: when the underwater buffering robot needs diving, the water storage cylinder drives the telescopic rod of the cylinder to contract, so that the sealing disc is driven to move along the inner wall of the water storage bin, and then the water body is extracted, so that the water body is extracted into the water storage bin along the water storage pipe, the weight of the underwater buffering robot is increased, and the diving is completed;
s2: when the underwater buffering robot finishes diving, the driving motor drives the driving propeller to rotate so as to drive the underwater buffering robot to advance, and when the underwater buffering robot needs to adjust the diving depth, the rotating motor drives the rotating fourth connecting rod to rotate so as to drive the rotating third connecting rod to reciprocate back and forth, so as to drive the rotating second connecting rod to swing, so as to drive the rotating first connecting rod to reciprocate along a preset amplitude, so as to drive the fixing plate to reciprocate along the preset amplitude, so as to drive the driving propeller to reciprocate along the preset amplitude, so as to adjust the angle of the driving propeller, and further adjust the diving depth of the underwater buffering robot;
s3: when the underwater robot meets fish schools and reefs and needs to turn, the input motor drives the buffer disc to rotate, further drives the turning fourth connecting rod to reciprocate back and forth, further drives the turning third connecting rod to swing, further drives the turning second connecting rod to reciprocate, further drives the turning first connecting rod to swing, further drives the tail wing to swing, and further completes the turning of the underwater robot when meeting the fish schools and the reefs;
s4: when the underwater robot turns, the input motor drives the buffering first gear to rotate so as to drive the buffering second gear to rotate and further drive the buffering second gear to rotate so as to drive the buffering propeller to rotate, the rotation direction of the buffering propeller is opposite to that of the driving propeller, and the buffering propeller provides a reverse acting force in water so as to reduce the underwater running speed of the underwater robot, so that the turning buffering effect is achieved, the underwater robot cannot touch with reefs when turning, fish schools are dispersed, and shooting materials are reduced;
s5: when the underwater robot moves to a preset position, a shot picture is transmitted to a control center screen by a camera, and then the control center controls the visual angle of the camera to shoot, after the underwater robot finishes shooting, a water storage cylinder drives a cylinder telescopic rod to extend, and then a sealing disc is driven to move along the inner wall of a water storage bin, so that a water body is discharged, the water body is discharged to the outside of the water storage bin along a water storage pipe, the weight of the underwater buffer robot is reduced, and the underwater robot is lifted;
s6: when underwater robot need rise to the surface of water fast, drive rotatory fourth connecting rod by rotating the motor and rotate, and then drive rotatory third connecting rod and carry out reciprocating motion back and forth, and then drive rotatory second connecting rod and swing, and then drive rotatory first connecting rod and carry out reciprocating motion along the predetermined range, and then drive the fixed plate and carry out reciprocating motion along the predetermined range, and then drive the drive screw and carry out reciprocating motion along the predetermined range, and then accomplish the angle of regulation drive screw, make the screw cut the slope upwards, and then adjust the speed that underwater buffer robot rises to the surface of water.
4. The method of claim 3, further comprising the steps of:
s7, automatic shooting flow:
s71, arranging a plurality of communication buoys which are uniformly distributed or distributed according to a preset route in a preset water area, wherein each communication buoy is provided with a first antenna which extends to the lower part of the water surface and is in communication connection with the underwater robot, a second antenna which extends towards the sky side and is used for communicating with a control center, a propeller used for driving the buoy to move and a power supply;
s72, arranging the underwater robot in a preset water area, starting a communication signal test, and recording the communication time and the communication signal strength of each communication buoy and the underwater robot;
s73, when the underwater robot moves according to the preset route and shoots, each communication buoy is in communication connection with the underwater robot in sequence, relevant data are transmitted and reported to the control center, and the distance between the communication buoy and the underwater robot is calculated according to the communication signal intensity and the acquired empirical data;
s74, the recovery vessel waits for the underwater robot at the end point and recovers it.
5. The working method of the underwater buffer robot as claimed in claim 4, wherein the S7 automatic shooting process further includes an abnormal situation processing step of:
s75, when the communication buoy deviates from the predetermined route due to waves, water currents or other reasons, starting the propeller to move the communication buoy to the predetermined position;
s76, when the communication environment of the preset water area becomes poor and the strength of the communication signal between the communication buoy and the underwater robot becomes weak, starting a propeller to enable the communication buoy to move along with the movement of the underwater robot, and ensuring that the signal strength exceeds a threshold value;
s77, when the underwater robot meets an obstacle in the preset route, adjusting the route according to the signal of the control center, and simultaneously, starting the communication buoy closest to the control center to track the movement of the underwater robot so as to ensure smooth communication;
and S78, when the underwater robot has a fault, starting the propeller of the nearby communication buoy to enable at least 3 communication buoys to communicate with the underwater robot, and determining the position of the underwater robot.
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| CN111746952A (en) * | 2020-06-18 | 2020-10-09 | 张红卫 | Intelligent electromechanical blockage clearing device for material bin |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN109911159A (en) | 2019-06-21 |
| WO2020216073A1 (en) | 2020-10-29 |
| CN111268072B (en) | 2021-06-11 |
| CN111252219B (en) | 2021-01-15 |
| CN109911159B (en) | 2020-03-24 |
| CN111268072A (en) | 2020-06-12 |
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